Object Avoidance with AQ

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Re: Object Avoidance with AQ

Postby aBUGSworstnightmare » Sat May 23, 2015 9:53 am

Hi Angel,
this looks indeed very very promising!
Looking forward to the Teensy implementation.
Would also be another good test to have the LIDAR facing downwards for terrain-following test (controlling altitude, i.e. 'running down' a stairway).

Maybe you should add some prop shrouds to the craft, preventing injury to persons.

I would not really touch AQ code to add this. I would prefer to send data via MavLink to the AQ and keep the sensor tasks on a separate MCU. Also keep in mind: we don't have I2C master code for the AQ!

Joerg
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Re: Object Avoidance with AQ

Postby chschmid » Sat May 23, 2015 10:19 am

Hi Angel

Very impressive. Go on.

Cheers
Christof
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Re: Object Avoidance with AQ

Postby srinath » Sat May 23, 2015 10:50 am

Hi Angel

What's the beam width?
I am curious. How accurate are the distance measurements if the obstacle is not exactly in front?

So if you had a 20 degree beam width and got a distance measurement. How would you figure out where the object is?
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Re: Object Avoidance with AQ

Postby aBUGSworstnightmare » Sat May 23, 2015 11:48 am

By the way: what about posting some details on the craft itself?
Looks pretty interesting (and robust). Do you use KISS ESC (in the arms)? To bad I don't have access to a 3D printer... lots of possibilities with them.
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Re: Object Avoidance with AQ

Postby afernan » Sun May 24, 2015 1:24 pm

@Joerg:
this is my "heavy dutty" machine, used for testing: simple, cheap and precise. Some details below:
- 400mm diameter, 680gr with the dismontable LIDAR-ARDUINO system onboard. 15min flight with 2200-3S
- KISS,AQ fc6.1 - DIMU1.1
- X-Motor 2208, 9x4.5 props.
- High Stiff frame: 16mm CF tubes giving 130Hz natural frequency vs 73Hz hovering excitation. ACC levels < 1m/s2

wrt LIDAR implementation I agree with you that best approach is to use a separate board like Teensy to implement all avoidance logic. Then comunicate to AQ thru CAN.

@Srinath:
Aperture beam depends on optics (see table below from specs). I think I have the 10º one (not sure) . Precission is 2.5cm from spec.

UPDATED VIDEO with some more details: https://www.youtube.com/watch?v=o7eLfZGucbo
Attachments
IMG_20150524_163335.jpg
1.JPG
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Re: Object Avoidance with AQ

Postby theBro » Sun May 31, 2015 6:53 pm

This looks really interesting. Like so many other projects of yours! (Can't wait to get some 3d models to test some of them myself - just cannot PM yet for details with brand new account on the board.)
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